23 #ifndef ROBOTLOCATION_H_
24 #define ROBOTLOCATION_H_
27 #include "segment_map.hh"
36 double odom_noise_th);
41 void SetPoses(
double ox,
double oy,
double oth,
42 double gx,
double gy,
double gth);
48 const SegmentMap& map(
void)
const {
return map_; };
53 void PrintState()
const;
55 Pose EstimatedPose(
void)
const;
56 MatrixXd Covariance(
void)
const;
59 const double odom_noise_x_;
60 const double odom_noise_y_;
61 const double odom_noise_th_;
Definition: feature.hh:34
Definition: robot_location.hh:31
#define PLAYER_MSG1(level, msg, a)
Definition: error.h:106
#define PLAYER_MSG3(level, msg, a, b, c)
Definition: error.h:108
void SetPoses(double ox, double oy, double oth, double gx, double gy, double gth)
Inform the current odometric and global (map) pose.
Definition: robot_location.cc:40
Definition: feature.hh:68
void SetCurrentError(double ex, double ey, double eth)
Inform the error for the initial pose Robot is expected to be at x +/- (ex/2)
Definition: robot_location.cc:51
#define PLAYER_MSG7(level, msg, a, b, c, d, e, f, g)
Definition: error.h:112
#define PLAYER_WARN(msg)
Warning message macros.
Definition: error.h:89
#define PLAYER_MSG0(level, msg)
General messages.
Definition: error.h:105
Definition: segment_map.hh:30